• Architectural research
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• v.18 no.1
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• pp.39-47
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• 2016

A finite element analysis technology applicable to the prediction of the static nonlinear response of cable roof structure is presented. The unified kinematic description is employed to formulate the present cable element and different strain definitions such as Green-Lagrange strain, Biot strain and Hencky strain can be adopted. The Newton-Raphson method is used to trace the nonlinear load-displacement path. In the iteration process, the compressive stress of a cable element is not allowed. For the verification of the present cable element, four numerical examples are tackled. Finally, numerical results obtained by using the present cable element are provided as new benchmark test results for cable structures under static loads.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.37-47
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• 2023

This paper introduced how to construct Denavit-Hartenberg (DH) parameters from the Unified Robot Description Format (URDF). URDF is convenient for describing a robot even though the robot is very complex. On the other hand, DH convention is not an easy notation for many novices who want to describe a robot. Therefore, most vendors provide URDF and users prefer to use URDF to describe a robot. However, some controllers or algorithms are based on DH parameters to perform kinematics, dynamics, control, etc. To connect URDF and DH parameters, we present a three-step approach to construct DH parameters from URDF. The first step is to define the joint axis for constructing DH parameters. The second step is constructing DH parameters to define joint character. The final step is constructing DH parameters to define the coordinate frame of the child link. This approach is based on intuitive vector calculation and guarantees the uniqueness of DH parameters. To verify our approach, we applied our approach to a simple one-link robot, a manipulator with 6 DOF, and a quadruped robot with 3 DOF per leg. We verified that our approach worked well based on forward kinematic results.